Revert "Install .pyi files (#17709)"

This reverts commit a61a184.
RobotLocomotion · Aug 18, 2022 · d3d28e2 · d3d28e2
1 parent 33a3348
commit d3d28e2
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Showing 8 changed files with 56 additions and 232 deletions.
diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
@@ -24,7 +24,6 @@ load(
     "get_pybind_package_info",
 )
 load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
-load("//bindings/pydrake:stubgen.bzl", "generate_python_stubs")
 
 package(default_visibility = [
     "//bindings:__subpackages__",
@@ -358,6 +357,18 @@ drake_py_library(
     ],
 )
 
+install(
+    name = "install",
+    install_tests = [
+        ":test/all_install_test.py",
+        ":test/common_install_test.py",
+    ],
+    targets = PY_LIBRARIES + [":all_py"],
+    py_dest = PACKAGE_INFO.py_dest,
+    visibility = ["//visibility:public"],
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
+)
+
 drake_cc_googletest(
     name = "documentation_pybind_test",
     deps = [
@@ -675,153 +686,22 @@ generate_pybind_coverage(
 drake_py_binary(
     name = "stubgen",
     srcs = ["stubgen.py"],
+    args = ["--package=pydrake"],
     deps = [
         ":all_py",
         "@mypy_internal//:mypy",
     ],
 )
 
-# TODO(jwnimmer-tri): This list should be automatically generated.
-PYI_FILES = [
-    "pydrake/__init__.pyi",
-    "pydrake/all.pyi",
-    "pydrake/autodiffutils.pyi",
-    "pydrake/common/__init__.pyi",
-    "pydrake/common/_module_py.pyi",
-    "pydrake/common/all.pyi",
-    "pydrake/common/compatibility.pyi",
-    "pydrake/common/containers.pyi",
-    "pydrake/common/cpp_param.pyi",
-    "pydrake/common/cpp_template.pyi",
-    "pydrake/common/deprecation.pyi",
-    "pydrake/common/eigen_geometry.pyi",
-    "pydrake/common/jupyter.pyi",
-    "pydrake/common/pybind11_version.pyi",
-    "pydrake/common/schema.pyi",
-    "pydrake/common/value.pyi",
-    "pydrake/common/yaml.pyi",
-    "pydrake/examples/__init__.pyi",
-    "pydrake/examples/_examples_extra.pyi",
-    "pydrake/examples/acrobot.pyi",
-    "pydrake/examples/compass_gait.pyi",
-    "pydrake/examples/manipulation_station.pyi",
-    "pydrake/examples/multibody/__init__.pyi",
-    "pydrake/examples/multibody/cart_pole_passive_simulation.pyi",
-    "pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.pyi",
-    "pydrake/examples/multibody/run_planar_scenegraph_visualizer.pyi",
-    "pydrake/examples/pendulum.pyi",
-    "pydrake/examples/quadrotor.pyi",
-    "pydrake/examples/rimless_wheel.pyi",
-    "pydrake/examples/van_der_pol.pyi",
-    "pydrake/forwarddiff.pyi",
-    "pydrake/geometry.pyi",
-    "pydrake/lcm.pyi",
-    "pydrake/manipulation/__init__.pyi",
-    "pydrake/manipulation/all.pyi",
-    "pydrake/manipulation/kuka_iiwa.pyi",
-    "pydrake/manipulation/planner.pyi",
-    "pydrake/manipulation/schunk_wsg.pyi",
-    "pydrake/math.pyi",
-    "pydrake/multibody/__init__.pyi",
-    "pydrake/multibody/all.pyi",
-    "pydrake/multibody/benchmarks.pyi",
-    "pydrake/multibody/inverse_kinematics.pyi",
-    "pydrake/multibody/jupyter_widgets.pyi",
-    "pydrake/multibody/math.pyi",
-    "pydrake/multibody/meshcat.pyi",
-    "pydrake/multibody/optimization.pyi",
-    "pydrake/multibody/parsing.pyi",
-    "pydrake/multibody/plant.pyi",
-    "pydrake/multibody/tree.pyi",
-    "pydrake/perception.pyi",
-    "pydrake/polynomial.pyi",
-    "pydrake/solvers/__init__.pyi",
-    "pydrake/solvers/_extra.pyi",
-    "pydrake/solvers/all.pyi",
-    "pydrake/solvers/augmented_lagrangian.pyi",
-    "pydrake/solvers/branch_and_bound.pyi",
-    "pydrake/solvers/clp.pyi",
-    "pydrake/solvers/csdp.pyi",
-    "pydrake/solvers/dreal.pyi",
-    "pydrake/solvers/gurobi.pyi",
-    "pydrake/solvers/ibex.pyi",
-    "pydrake/solvers/ipopt.pyi",
-    "pydrake/solvers/mathematicalprogram.pyi",
-    "pydrake/solvers/mixed_integer_optimization_util.pyi",
-    "pydrake/solvers/mixed_integer_rotation_constraint.pyi",
-    "pydrake/solvers/mosek.pyi",
-    "pydrake/solvers/nlopt.pyi",
-    "pydrake/solvers/osqp.pyi",
-    "pydrake/solvers/scs.pyi",
-    "pydrake/solvers/sdpa_free_format.pyi",
-    "pydrake/solvers/snopt.pyi",
-    # "pydrake/stubgen.pyi", Don't include this; why is it even generated?
-    "pydrake/symbolic.pyi",
-    "pydrake/systems/__init__.pyi",
-    "pydrake/systems/_resample_interp1d.pyi",
-    "pydrake/systems/all.pyi",
-    "pydrake/systems/analysis.pyi",
-    "pydrake/systems/controllers.pyi",
-    "pydrake/systems/drawing.pyi",
-    "pydrake/systems/framework.pyi",
-    "pydrake/systems/jupyter_widgets.pyi",
-    "pydrake/systems/lcm.pyi",
-    "pydrake/systems/meshcat_visualizer.pyi",
-    "pydrake/systems/perception.pyi",
-    "pydrake/systems/planar_scenegraph_visualizer.pyi",
-    "pydrake/systems/primitives.pyi",
-    "pydrake/systems/pyplot_visualizer.pyi",
-    "pydrake/systems/rendering.pyi",
-    "pydrake/systems/scalar_conversion.pyi",
-    "pydrake/systems/sensors.pyi",
-    "pydrake/systems/trajectory_optimization.pyi",
-    "pydrake/trajectories.pyi",
-    "pydrake/tutorials.pyi",
-    "pydrake/visualization/__init__.pyi",
-    "pydrake/visualization/all.pyi",
-    "pydrake/visualization/meldis.pyi",
-    "pydrake/visualization/plotting.pyi",
-]
-
-# TODO(mwoehlke-kitware): genrule inappropriately gives execute permission to
-# all its outputs; see https://github.com/bazelbuild/bazel/issues/3359.
-# (Applies to both :pydrake_pyi and, below, :pydrake_typed.)
-generate_python_stubs(
-    name = "pydrake_pyi",
-    outs = PYI_FILES,
-    package = "pydrake",
-    tool = ":stubgen",
-)
-
-# PEP 561 marker file; tells tools that type information is available.
-genrule(
-    name = "pydrake_typed",
-    srcs = [],
-    outs = ["pydrake/py.typed"],
-    cmd = "echo '# Marker file for PEP 561.' > $@",
-)
-
-install(
-    name = "install",
-    install_tests = [
-        ":test/all_install_test.py",
-        ":test/common_install_test.py",
-    ],
-    targets = PY_LIBRARIES + [":all_py"],
-    py_dest = PACKAGE_INFO.py_dest,
-    data = [
-        ":pydrake_pyi",
-        ":pydrake_typed",
-    ],
-    data_dest = "@PYTHON_SITE_PACKAGES@",
-    visibility = ["//visibility:public"],
-    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
-)
+# TODO(mwoehlke-kitware): actually install the .pyi's.
 
 drake_py_unittest(
-    name = "pyi_sanity_test",
-    data = [":pydrake_pyi"],
-    deps = ["@bazel_tools//tools/python/runfiles"],
+    name = "stubgen_test",
+    timeout = "moderate",
+    deps = [
+        ":all_py",
+        "@mypy_internal//:mypy",
+    ],
 )
 
 add_lint_tests_pydrake(

diff --git a/bindings/pydrake/stubgen.bzl b/bindings/pydrake/stubgen.bzl
diff --git a/bindings/pydrake/test/all_install_test.py b/bindings/pydrake/test/all_install_test.py
@@ -25,17 +25,6 @@ def test_install(self):
             env=tool_env
         )
 
-    def test_type_stubs(self):
-        # Get pydrake directory.
-        install_dir = install_test_helper.get_install_dir()
-        site_packages = \
-            install_test_helper.get_python_site_packages_dir(install_dir)
-        # Ensure some files are present.
-        self.assertTrue(
-            os.path.exists(os.path.join(site_packages, 'pydrake', 'py.typed')))
-        self.assertTrue(
-            os.path.exists(os.path.join(site_packages, 'pydrake', 'all.pyi')))
-
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/bindings/pydrake/test/pyi_sanity_test.py b/bindings/pydrake/test/pyi_sanity_test.py
diff --git a/bindings/pydrake/test/stubgen_test.py b/bindings/pydrake/test/stubgen_test.py
@@ -0,0 +1,36 @@
+"""Tests generation of Drake's Python Interface files (.pyi)."""
+
+import os
+import unittest
+
+from mypy import stubgen
+
+# Mypy can time out if importing takes an inordinate length of time. Try to
+# avoid this by importing ourselves up front when the import isn't being run
+# under a timeout.
+import pydrake.all
+
+
+class TestStubgen(unittest.TestCase):
+    # TODO(mwoehlke-kitware): test the already-generated files instead.
+    def test_generation(self):
+        """Ensure that stubgen runs and generates output.
+
+        For now, this is more or less just a smoke test, with a very cursory
+        check that the output is 'reasonable'.
+        """
+        output_dir = os.environ['TEST_TMPDIR']
+        args = ['--package', 'pydrake', '--output', output_dir]
+
+        # Generate stubs.
+        result = stubgen.main(args)
+        self.assertTrue(result is None or result == 0)
+
+        # Find some of the expected output and look for an expected function.
+        expected = os.path.join(output_dir, 'pydrake', '__init__.pyi')
+        found_expected_decl = False
+        for line in open(expected, 'r'):
+            if line.startswith('def getDrakePath():'):
+                found_expected_decl = True
+                break
+        self.assertTrue(found_expected_decl)
diff --git a/tools/wheel/image/provision-python.sh b/tools/wheel/image/provision-python.sh
@@ -14,12 +14,8 @@ apt-get -y install --no-install-recommends \
 
 ${PYTHON} -m venv /usr/local
 
-# TODO(jwnimmer-tri): Should these be version-pinned? What's the process for
-# keeping them up to date if they are?
 pip install \
     lxml \
-    matplotlib \
-    numpy \
     pyyaml \
     semantic-version \
     setuptools \

diff --git a/tools/wheel/image/setup.py b/tools/wheel/image/setup.py
@@ -94,8 +94,6 @@ def _actually_find_packages():
       include_package_data=True,
       package_data={
           '': find_data_files(
-              'pydrake/py.typed',
-              'pydrake/**/*.pyi',
               'pydrake/**/*.so',
               'pydrake/lib/**',
               'pydrake/doc/**',

diff --git a/tools/wheel/test/test-wheel.sh b/tools/wheel/test/test-wheel.sh
@@ -56,16 +56,3 @@ pypi_wheel_max_size = 100 << 20  # 100 MiB
 fail_message = f"Wheel is too large ({wheel_size_in_mib:.2f} MiB) for PyPI"
 assert wheel_size < pypi_wheel_max_size, fail_message
 EOF
-
-python - "$1" << EOF
-import os
-import pydrake
-
-def assert_exists(path):
-    assert os.path.exists(path), f"{path!r} does not exist!"
-
-# Check that type information files are present.
-pydrake_dir = pydrake.__path__[0]
-assert_exists(os.path.join(pydrake_dir, 'py.typed'))
-assert_exists(os.path.join(pydrake_dir, 'all.pyi'))
-EOF